mirror of
https://bitbucket.org/librepilot/librepilot.git
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233dec6d8d
- Support blocks of led for notification (that is a certain number of leds between a min and a max index); - Fix an issue with bogus colours on fast updates at LED N°0. - Add NOTIFY_SEQUENCE_NULL to skip handling a specific alarm status; - Adjust sequences and add Config and Receiver Alarms; - fix issue with Alarm trigger/repetition; - Enables Notify module only if a WS281x output is enabled. - Add some documentation for sequence/alarm definitions (sequences.h) - Make sequences more coherent. All GPS related info are now shown in green. - Revert to original blinking rate for onboard led - add Notify on DiscoveryF4Bare target
100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
#include "gtest/gtest.h"
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#include <stdio.h> /* printf */
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#include <stdlib.h> /* abort */
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#include <string.h> /* memset */
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extern "C" {
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#define xTaskGetTickCount() 1
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#define portTICK_RATE_MS 1
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#include "lednotification.c"
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void PIOS_WS2811_setColorRGB(__attribute__((unused)) Color_t c, __attribute__((unused)) uint8_t led, __attribute__((unused)) bool update) {}
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void PIOS_WS2811_Update() {}
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}
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class LedNotificationTest : public testing::Test {};
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void insert(NotifierLedStatus_t *status, pios_notify_priority priority)
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{
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ExtLedNotification_t notification;
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notification.priority = priority;
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push_queued_sequence(¬ification, status);
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}
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void init(NotifierLedStatus_t *status, pios_notify_priority priority)
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{
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for (uint8_t i = 0; i < MAX_BACKGROUND_NOTIFICATIONS; i++) {
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status->queued_priorities[i] = priority;
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}
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}
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TEST_F(LedNotificationTest, TestQueueOrder1) {
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NotifierLedStatus_t status;
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init(&status, NOTIFY_PRIORITY_BACKGROUND);
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insert(&status, NOTIFY_PRIORITY_LOW);
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insert(&status, NOTIFY_PRIORITY_CRITICAL);
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insert(&status, NOTIFY_PRIORITY_LOW);
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insert(&status, NOTIFY_PRIORITY_CRITICAL);
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EXPECT_EQ(NOTIFY_PRIORITY_LOW, status.queued_priorities[0]);
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EXPECT_EQ(NOTIFY_PRIORITY_LOW, status.queued_priorities[1]);
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EXPECT_EQ(NOTIFY_PRIORITY_CRITICAL, status.queued_priorities[2]);
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EXPECT_EQ(NOTIFY_PRIORITY_CRITICAL, status.queued_priorities[3]);
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EXPECT_EQ(NOTIFY_PRIORITY_BACKGROUND, status.queued_priorities[4]);
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}
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TEST_F(LedNotificationTest, TestQueueOrder2) {
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NotifierLedStatus_t status;
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// Fails because insert_point and first_point will both be -1. This will also cause an array-out-of bounds at:
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// 146 status->queued_priorities[insert_point] = new_notification->priority;
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// 147 status->queued_sequences[insert_point] = new_notification->sequence;
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// 148 updated_sequence = insert_point;
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init(&status, NOTIFY_PRIORITY_LOW);
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insert(&status, NOTIFY_PRIORITY_REGULAR);
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EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, status.queued_priorities[4]);
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EXPECT_EQ(NOTIFY_PRIORITY_LOW, status.queued_priorities[3]);
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EXPECT_EQ(NOTIFY_PRIORITY_LOW, status.queued_priorities[2]);
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EXPECT_EQ(NOTIFY_PRIORITY_LOW, status.queued_priorities[1]);
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EXPECT_EQ(NOTIFY_PRIORITY_LOW, status.queued_priorities[0]);
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}
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TEST_F(LedNotificationTest, TestQueueOrder3) {
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NotifierLedStatus_t status;
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// Fails because queued_priorities[0] _LOW and not _REGULAR. I _think_ this is a bug.
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init(&status, NOTIFY_PRIORITY_REGULAR);
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insert(&status, NOTIFY_PRIORITY_LOW);
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for (uint8_t i = 0; i < MAX_BACKGROUND_NOTIFICATIONS; i++) {
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EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, status.queued_priorities[i]);
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}
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}
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TEST_F(LedNotificationTest, TestQueueOrder4) {
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NotifierLedStatus_t status;
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init(&status, NOTIFY_PRIORITY_BACKGROUND);
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insert(&status, NOTIFY_PRIORITY_REGULAR);
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insert(&status, NOTIFY_PRIORITY_REGULAR);
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insert(&status, NOTIFY_PRIORITY_REGULAR);
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insert(&status, NOTIFY_PRIORITY_LOW);
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EXPECT_EQ(NOTIFY_PRIORITY_BACKGROUND, status.queued_priorities[4]);
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EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, status.queued_priorities[3]);
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EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, status.queued_priorities[2]);
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EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, status.queued_priorities[1]);
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EXPECT_EQ(NOTIFY_PRIORITY_LOW, status.queued_priorities[0]);
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}
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